非线性随机多智能体系统的固定时间一致性

本文研究了在固定拓扑和切换拓扑下,非线性随机多智能体系统的固定时间一致性问题.首先针对固定拓扑,设计了一种非线性控制协议,利用随机Lyapunov稳定性理论和代数图论给出了实现固定时间一致性的充分条件和收敛时间的上界值,随后将结论推广至切换拓扑,设计的切换拓扑子图的并集只需要满足连通条件,即可实现固定时间一致,模型更具一般性.最后,两个仿真实例进一步验证了理论结果的有效性.

Fixed-time consensus of nonlinear stochastic multi-agent systems

In this paper, the fixed-time consensus problem of nonlinear stochastic multi-agent systems is investigated under fixed and switched topologies. Firstly, a novel protocol for fixed topology is proposed. The sufficient condition is provided for solving the fixed-time consensus. By using the stability theory of stochastic differential equation and algebraic graph theory, the validity of the protocol is proved. Meanwhile, the minimum upper bound of convergence time is given as well. Then, it is extended to the case of switching topology. The union of designed switching topology subgraphs merely demand to satisfy the connectivity condition, so that fixed-time consensus is achieved with more general model. Finally, two simulation examples further verify the effectiveness of the theoretical results.